AGNI: an API for the control of automomous service robots

With the continuum growth of Internet connected devices, the scalability of the protocols used for communication between them is facing a new set of challenges. In robotics these communications protocols are an essential element, and must be able to accomplish with the desired communication. In a context of a multi-­‐‑agent platform, the main types of Internet communication protocols used in robotics, mission planning and task allocation problems will be revised. It will be defined how to represent a message and how to cope with their transport between devices in a distributed environment, reviewing all the layers of the messaging process. A review of the ROS platform is also presented with the intent of integrating the already existing communication protocols with the ServRobot, a mobile autonomous robot, and the DVA, a distributed autonomous surveillance system. This is done with the objective of assigning missions to ServRobot in a security context.

middleware for cooperating mobile embedded systems

Mobile embedded systems, wireless communication, real-time systems, real-time scheduling, communication protocols, cooperation, reliability and fault-tolerance, middleware

Design of Novel Frequency Generation Circuit with Application to Ultra-Wideband Distributed Oscillators

Given the urgence of a new paradigm in wireless digital trasmission which should allow for higher bit rate, lower latency and tigher delay constaints, it has been proposed to investigate the fundamental building blocks that at the circuital/device level, will boost the change towards a more efficient network architecture, with high capacity, higher bandwidth and a more satisfactory end user experience. At the core of each transciever, there are inherently analog devices capable of providing the carrier signal, the oscillators. It is strongly believed that many limitations in today's communication protocols, could be relieved by permitting high carrier frequency radio transmission, and having some degree of reconfigurability. This led us to studying distributed oscillator architectures which work in the microwave range and possess wideband tuning capability. As microvave oscillators are essentially nonlinear devices, a full nonlinear analyis, synthesis, and optimization had to be considered for their implementation. Consequently, all the most used nonlinear numerical techniques in commercial EDA software had been reviewed. An application of all the aforementioned techniques has been shown, considering a systems of three coupled oscillator ("triple push" oscillator) in which the stability of the various oscillating modes has been studied. Provided that a certain phase distribution is maintained among the oscillating elements, this topology permits a rise in the output power of the third harmonic; nevertheless due to circuit simmetry, "unwanted" oscillating modes coexist with the intenteded one. Starting with the necessary background on distributed amplification and distributed oscillator theory, the design of a four stage reverse mode distributed voltage controlled oscillator (DVCO) using lumped elments has been presented. All the design steps have been reported and for the first time a method for an optimized design with reduced variations in the output power has been presented. Ongoing work is devoted to model a wideband DVCO and to implement a frequency divider.

Desencuentros comunicativos dentro y fuera del aula L2 para inmigrantes adultos

In the past few years, the studies on communicative troubles emerging in intercultural communication highlight cultural differences. Some disciplines have created training guides where those differences are made explicit so that in the case of international communication misunderstandings are avoided. Examples can be found in non-verbal communication protocols for health services and in the business world. In this regard the field of second-language teaching is beginning to include the socio-pragmatic features of language in the teaching materials. For this reason, this dissertation attempts to describe the communicative conflicts that arise in conversation between immigrants and natives in the city of Barcelona. Thanks to the theoretical and methodological tools provided by Conversation Analysis and Discourse Analysis, we can ethnographically analyze the interviews held with the informants, and the interactions they had with Barcelonan people, by taking into account the linguistic and paralinguistic features which are salient in the interaction (Gumperz y Roberts, 1991; Gumperz, 1992; Hérédia, 1996 y Trognon y Saint-Dizier, 1999). For this purpose, we first examine the causes that produce the conflict as well as the consequences that derive from it. Second, we describe the strategies that the speakers use in the negotiation of the meaning that generated the misunderstanding. Although it is obvious that the nature of the conversations, the personal characteristics of the participants and the context of the conversations have a noticeable influence on the participants’ communicative attitudes (Hinnenkamp, 1987; Codó, 2003; van Dijk, 2003 y Bertrán, 2009), there are somemisunderstandings that none of the interlocutors are able to detect or solve. The results show that not all of the misunderstandings that emerge in intercultural communication have a negative effect and, therefore, its usage in the L2 teaching classroom is essential for acquiring socio-cultural and intercultural competence (Miquel, 1997; Oliveras, 2000 y Miquel y Sans 2004).

Improving distributed simulation in a workstation environment

Technological development brings more and more complex systems to the consumer markets. The time required for bringing a new product to market is crucial for the competitive edge of a company. Simulation is used as a tool to model these products and their operation before actual live systems are built. The complexity of these systems can easily require large amounts of memory and computing power. Distributed simulation can be used to meet these demands. Distributed simulation has its problems. Diworse, a distributed simulation environment, was used in this study to analyze the different factors that affect the time required for the simulation of a system. Examples of these factors are the simulation algorithm, communication protocols, partitioning of the problem, distributionof the problem, capabilities of the computing and communications equipment and the external load. Offices offer vast amounts of unused capabilities in the formof idle workstations. The use of this computing power for distributed simulation requires the simulation to adapt to a changing load situation. This requires all or part of the simulation work to be removed from a workstation when the owner wishes to use the workstation again. If load balancing is not performed, the simulation suffers from the workstation's reduced performance, which also hampers the owner's work. Operation of load balancing in Diworse is studied and it is shown to perform better than no load balancing, as well as which different approaches for load balancing are discussed.

Kytkentäisen lähiverkon palvelutason mittaaminen

Tässä diplomityössä tutkittiin yrityksen Ethernet-lähiverkon palvelutasoa, palveluiden saatavuuden näkökulmasta. Tutkimus pohjautui käytännön tarpeeseen. Palvelun saatavuuteen verkon osalta vaikuttavat sen käyttöaste, virheet ja viiveet. Työssä käytettiin valmiita kaupallisia ohjelmia verkon hallintaan ja verkkostatistiikan keräämiseen. Työssä selvitettiin teoriapohjaa laitteiden, kytkentätekniikoiden, palvelulaatuprotokollien (QoS), tietoliikenneprotokollien, RMON:in, SNMP:in ja VLAN:in osalta, jotka yhdessä muodostavat kytkentäisen lähiverkon palvelutason. Työn tuloksena todettiin mittauskohteena olevan lähiverkon palvelutason olevan hyvällä tasolla. Työn tuloksista pääteltiin tulevaisuuden suurimpana haasteena olevan lähiverkkoja yhdistävien yhteyksien nostaminen selvästi paremmalle suoritustasolle. Lähiverkkojen teoreettinen suorituskyky onkin useimmiten riittävä, mutta lähiverkkojen hallinnassa on parantamisen varaa. Työssä toteutettiin seurantajärjestelmä, jolla on helppo seurata lähiverkon palvelutason kehitystä jatkossa.

Sähkökoneiden etädiagnostiikan kenttätason tiedonsiirtotarpeen arviointi ja instrumentoinnin kehittäminen

Tässä diplomityössä tarkastellaan sähkökoneiden tyypillisiä vikoja ja joitain näiden havaitsemiseen käytettäviä mittauksia ja analyysejä; mittausten tuottamaa tietomäärää arvioidaan. Muutamia teollisuuslaitoksissa käytettyjä väyliä ja tiedonsiirtoprotokollia esitellään, ja analysoidaan kunnonvalvonnan mittauksien siirtämisen näillä väylillä vaatimaa väylän datansiirtonopeutta. Valvottavien sähkökoneiden määrän ylärajaa arvioidaan kunkin väylän/protokollan tapauksessa. Työssä esitellään ratkaisuja sähkökoneiden etädiagnostiikan tiedonsiirron toteuttamiseksi ja arvioidaan valvottavien sähkökoneiden määrän ylärajaa kussakin tapauksessa. Lisäksi työssä suunnitellaan ja toteutetaan kunnonvalvonnan mitta-antureiden kanssa käytettävä mittaustiedon keräily-yksikkö. Keräily-yksikön sisältävä kunnonvalvonnan ja etädiagnostiikan tiedonkeruu- ja tiedonsiirtojärjestelmä asennetaan kahteen pilot-kohteeseen: sellutehtaalle ja pienvesivoimalaan.

Simulation Supported Robot Programming using XML

The main objective of this master's thesis is to study robot programming using simulation software, and also how to embed the simulation software into company's own robot controlling software. The further goal is to study a new communication interface to the assembly line's components -more precisely how to connect the robot cell into this new communication system. Conveyor lines are already available where the conveyors use the new communication standard. The robot cell is not yet capable of communicating with to other devices using the new communication protocols. The main problem among robot manufacturers is that they all have their own communication systems and programming languages. There has not been any common programming language to program all the different robot manufacturers robots, until the RRS (Realistic Robot Simulation) standards were developed. The RRS - II makes it possible to create the robot programs in the simulation software and it gives a common user interface for different robot manufacturers robots. This thesis will present the RRS - II standard and the robot manufacturers situation for the RRS - II support. Thesis presents how the simulation software can be embedded into company's own robot controlling software and also how the robot cell can be connected to the CAMX (Computer Aided Manufacturing using XML) communication system.

Performance Management of a Next Generation Network

Today's communication networks consist of numerous interdependent network components. To manage these networks and to ensure their reliable and efficient operation to meet the increasing customer usability demands, extensive network management tools are required from the service provider. The goal of this study was to adapt the Next Generation Network (NGN) providing VoIP services within a performance oriented network management system. This study focuses only on NGN network and the project was implemented as an assignment of the Network Operations Center of Elisa Corporation. The theoretical part of this study introduces the network environment of the Elisa NGN platform: its components and used signalling protocols as well as other exploitable communication protocols. In addition, the Simple Network Management Protocol (SNMP) is closely examined since it is commonly used as the basis of IP (Internet Protocol) network management. Also some primary applications enabled by the NGN technology are introduced. The empirical part of this study contains a short overview of the implemented network performance management system and its properties. The most crucial monitored MIB modules, SNMP parameters and implemented performance measurements are described. The trap topology and the role of the traps for management of the NGN platform are considered and finally, the conclusion based on the several disquisitions is made supported with suggestions for future improvements.

Palveluväylää hyödyntävät järjestelmäintegraatiot

Tässä työssä kuvataan Lahti Fenix Kuntalaistilijärjestelmän ja Tekla Xcity-järjestelmän välille toteutetun järjestelmäintegraation eri vaiheet. Kuntalaistilijärjestelmä on Lahden kaupungin Fenix-hankkeessa kehitteillä oleva sähköinen palvelualusta, jota pitkin kuntalaisille tarjotaan erilaisia kunnallisia palveluja, kuten vastaanottoaikoja hammaslääkärille. Tekla Xcity on kuntien ja kaupunkien käyttöön tarkoitettu järjestelmä, josta on mahdollista hakea esimerkiksi henkilö- ja paikkatietoja. Aluksi työssä esitellään lyhyesti erilaisia tapoja toteuttaa järjestelmäintegraatioita. Seuraavaksi kiinnitetään erityistä huomiota niin sanottuihin web-palveluihin, joiden etuja ja haittoja arvioidaan käytännön esimerkin kautta. Tässä pidetään viitekehyksenä Kuntalaistilijärjestelmää ja siinä käytettyä palvelukeskeistä arkkitehtuuria. Arkkitehtuurin ja viestiliikenneratkaisujen arvioinnin jälkeen siirrytään käytännön osuuteen, jossa itse järjestelmäintegraatio toteutetaan. Järjestelmäintegraatio toteutetaan käyttäen avoimen lähdekoodin palveluväylää ja sille saatavissa olevia viestintäkehyksiä. Integraation eri vaiheissa tutustutaan erilaisiin viestiliikenneprotokolliin ja niiden käyttöön valittujen viestintäkehysten kanssa. Kunkin protokollan toimivuus varmennetaan analysoimalla integraatioon liittyvien komponenttien ja päätepisteiden välistä tietoliikennettä.

A survey on wireless body area networks for eHealthcare systems in residential environments

The progress in wearable and implanted health monitoring technologies has strong potential to alter the future of healthcare services by enabling ubiquitous monitoring of patients. A typical health monitoring system consists of a network of wearable or implanted sensors that constantly monitor physiological parameters. Collected data are relayed using existing wireless communication protocols to the base station for additional processing. This article provides researchers with information to compare the existing low-power communication technologies that can potentially support the rapid development and deployment of WBAN systems, and mainly focuses on remote monitoring of elderly or chronically ill patients in residential environments.

Robustness of bipartite Gaussian entangled beams propagating in lossy channels

Subtle quantum properties offer exciting new prospects in optical communications. For example, quantum entanglement enables the secure exchange of cryptographic keys(1) and the distribution of quantum information by teleportation(2,3). Entangled bright beams of light are increasingly appealing for such tasks, because they enable the use of well-established classical communications techniques(4). However, quantum resources are fragile and are subject to decoherence by interaction with the environment. The unavoidable losses in the communication channel can lead to a complete destruction of entanglement(5-8), limiting the application of these states to quantum-communication protocols. We investigate the conditions under which this phenomenon takes place for the simplest case of two light beams, and analyse characteristics of states which are robust against losses. Our study sheds new light on the intriguing properties of quantum entanglement and how they may be harnessed for future applications.

Three-Color Entanglement

Entanglement is an essential quantum resource for the acceleration of information processing as well as for sophisticated quantum communication protocols. Quantum information networks are expected to convey information from one place to another by using entangled light beams. We demonstrated the generation of entanglement among three bright beams of light, all of different wavelengths (532.251, 1062.102, and 1066.915 nanometers). We also observed disentanglement for finite channel losses, the continuous variable counterpart to entanglement sudden death.

Cross-situational learning of object-word mapping using Neural Modeling Fields

The issue of how children learn the meaning of words is fundamental to developmental psychology. The recent attempts to develop or evolve efficient communication protocols among interacting robots or Virtual agents have brought that issue to a central place in more applied research fields, such as computational linguistics and neural networks, as well. An attractive approach to learning an object-word mapping is the so-called cross-situational learning. This learning scenario is based on the intuitive notion that a learner can determine the meaning of a word by finding something in common across all observed uses of that word. Here we show how the deterministic Neural Modeling Fields (NMF) categorization mechanism can be used by the learner as an efficient algorithm to infer the correct object-word mapping. To achieve that we first reduce the original on-line learning problem to a batch learning problem where the inputs to the NMF mechanism are all possible object-word associations that Could be inferred from the cross-situational learning scenario. Since many of those associations are incorrect, they are considered as clutter or noise and discarded automatically by a clutter detector model included in our NMF implementation. With these two key ingredients - batch learning and clutter detection - the NMF mechanism was capable to infer perfectly the correct object-word mapping. (C) 2009 Elsevier Ltd. All rights reserved.

A proposal to the supervision of processes in an industrial environment with heterogeneous systems

SOUZA, Rodrigo B. ; MEDEIROS, Adelardo A. D. ; NASCIMENTO, João Maria A. ; GOMES, Heitor P. ; MAITELLI, André L. A Proposal to the Supervision of Processes in an Industrial Environment with Heterogeneous Systems. In: INTERNATIONAL CONFERENCE OF THE IEEEOF THE INDUSTRUI ELECTRONICS SOCIETY,32., Paris, 2006, Paris. Anais... Paris: IECON, 2006